Sensor layout of vehicles
The present disclosure relates to a vehicle. The vehicle includes a first set of cameras, including a first subset of cameras facing to the front of the vehicle; a second set of cameras, with focal lengths less than those of the first set of cameras, the second set of cameras including a second and a third subset of cameras, the second subset of cameras facing to the front of the vehicle, and third subset of cameras facing to a side front and/or a side of the vehicle; and a third set of cameras, with focal lengths less than those of the second set of cameras, the third set of cameras including a fourth and a fifth subset of camera, the fourth subset of cameras facing to the front of the vehicle, and the fifth subset of camera facing to the side front and/or side of the vehicle.
1. A vehicle, comprising:
a first set of cameras, comprising a first subset of cameras facing to a front of the vehicle;
a second set of cameras, wherein a focal length of the second set of cameras is less than a focal length of the first set of cameras, the second set of cameras comprises a second subset of cameras and a third subset of cameras, the second subset of cameras face to the front of the vehicle, and the third subset of cameras face to a side front or a side of the vehicle;
a third set of cameras, wherein a focal length of the third set of cameras is less than the focal length of the second set of cameras, the third set of cameras comprises a fourth subset of cameras and a fifth subset of camera, the fourth subset of cameras face to the front of the vehicle, and the fifth subset of camera face to the side front or the side of the vehicle and has a focal length less than a focal length of the third subset of cameras; and
a first group of LiDARs, comprising at least one LiDAR which is installed at a top of the vehicle and faces to the front of the vehicle,
wherein the first subset of cameras and the second subset of cameras comprises four cameras in a row having three different focal lengths,
wherein the first subset of cameras comprises two cameras having a same focal length and lined up with each of the LiDARs, the second subset of cameras and the third subset of cameras on a bracket, and a distance between the two cameras having the same focal length is no less than 1.5 m, and
wherein each of the second subset of cameras and a LiDAR of the first group of LiDARs is sandwiched between two cameras of the third subset of cameras and between the two cameras of the first subset of cameras.
2. The vehicle according to claim 1 , wherein:
the first set of cameras further comprises a sixth subset of cameras facing to a back of the vehicle;
the second set of cameras further comprises a seventh subset of cameras facing to the back of the vehicle; or
the third set of cameras further comprises an eighth subset of cameras facing to the back of the vehicle.
3. The vehicle according to claim 1 , wherein the two cameras of the first subset of cameras form a binocular camera.
4. The vehicle according to claim 3 , wherein the first set of cameras comprise further an infrared camera having the same focal length as the binocular camera.
5. The vehicle according to claim 1 , wherein the first set of cameras and the second set of cameras are installed at a top of the vehicle.
6. The vehicle according to claim 5 , wherein the fourth subset of cameras comprises at least one camera installed on the front of the vehicle and having a smaller height than the first set of cameras and the second set of cameras, and the fifth subset of camera are installed at a position, close to the top, of the side of the vehicle.
7. The vehicle according to claim 1 ,
wherein the second subset of cameras comprises at least two cameras having different focal lengths each of which is less than the focal length of the first subset of cameras.
8. The vehicle according to claim 1 , wherein the first group of LiDARs, further comprises
at least one LiDAR which is installed at a position, close to the top, of the side of the vehicle and faces to a back of the vehicle.
9. The vehicle according to claim 8 , further comprising:
a second group of LiDARs, comprising at least two LiDARs which are respectively arranged on both sides of the front of the vehicle.
10. The vehicle according to claim 9 , further comprising:
a third group of LiDARs, comprising at least one LiDAR which is installed at a position, close to the top, of the side of the vehicle and faces to the back of the vehicle, and at least one LiDAR which is installed on the front of the vehicle.
11. The vehicle according to claim 10 , wherein a maximum perception distance of the first group of LiDARs is greater than a maximum perception distance of the second group of LiDARs, and the maximum perception distance of the second group of LiDARs is greater than a maximum perception distance of the third group of LiDARs.
12. The vehicle according to claim 1 , further comprising:
a first group of millimeter-wave radars arranged in a middle of the front of the vehicle.
13. The vehicle according to claim 12 , further comprising:
a second group of millimeter-wave radars, comprising at least two millimeter-wave radars installed on both sides of the front of the vehicle, at least two millimeter-wave radars installed on both sides of a back of the vehicle, and at least one millimeter-wave radar installed in a middle of the back of the vehicle, wherein an operating frequency of the second group of millimeter-wave radars is lower than an operating frequency of the first group of millimeter-wave radars.
14. The vehicle according to claim 13 , further comprising:
a third group of millimeter-wave radars, comprising at least one millimeter-wave radar installed in the middle of the front of the vehicle and at least two millimeter-wave radars installed on both sides of the back of the vehicle, wherein an operating frequency of the third group of millimeter-wave radars is lower than the operating frequency of the second group of millimeter-wave radars.
15. The vehicle according to claim 1 ,
wherein the fourth subset of cameras comprises at least one camera installed on the front of the vehicle which has a height smaller than the height of the first subset of cameras, the second subset of cameras and the third subset of cameras and has a focal length less than the focal length of each camera of the first subset of cameras, the second subset of cameras and the third subset of cameras.
16. The vehicle according to claim 1 ,
wherein each subset of the second subset of cameras, the third subset of cameras and the fifth subset of camera comprises a plurality of cameras.
17. A vehicle, comprising:
a first group of sensors, configured to perceive objects within a range less than a first distance and greater than a second distance from the vehicle;
a second group of sensors, configured to perceive objects within a range less than a third distance and greater than a fourth distance from the vehicle; and
a third group of sensors, configured to perceive objects within a range less than a fifth distance from the vehicle;
wherein the first distance is greater than the third distance, the third distance is greater than or equal to the second distance, the second distance is greater than the fourth distance, and the fifth distance is greater than or equal to the fourth distance and less than the second distance, and
wherein a horizontal field of view of the first group of sensors is smaller than or equal to a horizontal field of view of the second group of sensors, and the horizontal field of view of the second group of sensors is smaller than or equal to a horizontal field of view of the third group of sensors,
wherein the second group of sensors comprises a camera facing to a side front or a side of the vehicle, the third group of sensors comprises a camera facing to the side front or the side of the vehicle and having a focal length less than a focal length of the camera of the second group of sensors,
wherein the first group of sensors and the second group of sensors comprises four cameras in a row having three different focal lengths,
wherein the first group of sensors comprises two cameras having a same focal length and at least one LiDAR installed on a top of the vehicle, and a distance between the two cameras having the same focal length is no less than 1.5 m,
wherein the second group of sensors comprises a plurality of cameras lined up with the at least one LiDAR and the two cameras of the first group of sensors on a bracket, and
wherein at least two of the plurality of cameras of the second group of sensors and the at least one LiDAR is sandwiched between the two cameras of the first group of sensors.
18. The vehicle according to claim 17 , wherein the plurality of cameras of the second group of sensors are installed on a top of the vehicle and face different directions;
wherein the second group of sensors further comprises:
a plurality of LiDARs, wherein at least one of the plurality of LiDARs is installed at a position of the vehicle lower than the plurality of cameras and closer to a front of the vehicle; or
a plurality of millimeter-wave radars, which are installed at positions of the vehicle lower than the plurality of cameras, wherein at least one of the plurality of millimeter-wave radars is installed at a position of the vehicle lower than at least a subset of the plurality of LiDARs.
19. The vehicle according to claim 17 , wherein the third group of sensors comprises:
a plurality of cameras, wherein at least one of the plurality of cameras is installed on a front of the vehicle, at least one of the plurality of cameras is installed at a back of the vehicle, and at least one of the plurality of cameras is installed at a top or a side of the vehicle;
a plurality of LiDARs, wherein at least one of the plurality of LiDARs is installed on the front of the vehicle, and at least one of the plurality of LiDARs is installed at the back of the vehicle; or
a plurality of millimeter-wave radars, wherein at least one of the plurality of millimeter-wave radars is installed on the front of the vehicle, and at least one of the plurality of millimeter-wave radars is installed at the back of the vehicle.